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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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Mono-Inertial fail when few feature points #365

Open HuangTY96 opened 3 years ago

HuangTY96 commented 3 years ago

I am using D435i to run MONO-INERTIAL slam. before I move camera towards wall without feature points, the result is nice, but after that, it shows:

Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! PIOLKF: NOT ENOUGH EDGES Fail to track local map! Segmentation fault (core dumped)

I dont get it, because I think in MONO-INERTIAL case, slam will be robust even in less feature situation.

Pallav1299 commented 3 years ago

I am witnessing similar results.

wangtsiao commented 3 years ago

hi，could you share video and imu data collected by your realsence sensor, i want to dig deeper into this issue.

HuangTY96 commented 3 years ago

hi，could you share video and imu data collected by your realsence sensor, i want to dig deeper into this issue.

yes, could you give me your private email. ty_huang2021@163.com, this is mine.

BogdanSerban95 commented 3 years ago

Hello! Did you find the cause of this error? I am facing the same issue when running in stereo-inertial mode.

Water1775 commented 2 years ago

Hello! Did you find the cause of this error? I am facing the same issue when running in stereo-inertial mode.

hello!me too？have you find the cause of this error?if you have find the cause of this error,tell me,please !thanks